CN112256493B - Data pool-based four-machine hot backup computer data quick access method - Google Patents
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- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/18—Error detection or correction of the data by redundancy in hardware using passive fault-masking of the redundant circuits
- G06F11/182—Error detection or correction of the data by redundancy in hardware using passive fault-masking of the redundant circuits based on mutual exchange of the output between redundant processing components
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Abstract
Because the realization of synchronous operation of four machines requires the exchange comparison of a large amount of input data and output data in each control period, how to quickly access the data items is a key problem to be solved in the data exchange comparison. The invention provides a data quick access method of a four-machine hot backup computer based on a data pool, which takes data to be exchanged and compared of four machines as objects to respectively establish a data buffer pool and a data access mechanism of a secondary index table, so that software is decoupled from the data in the processes of data acquisition, input exchange comparison, algorithm calculation, output exchange comparison and data output, and simultaneously, the access efficiency and the processing capacity of the data to be exchanged and compared of the four machines are improved.
Description
Technical Field
The invention relates to a data pool-based four-machine hot backup computer data quick access method which can be used for a satellite system which adopts a plurality of hot backup computers and needs a large amount of shared data to quickly access.
Background
At present, a control system of a complex multi-cabin spacecraft mostly adopts a 1553B bus system-based fusion attitude orbit control system structure, and a multi-cabin controller, a sensor and an actuating mechanism are interconnected through a plurality of cabin penetrating buses, so that the system has the characteristics of multiple hanging parts, complex bus communication, multi-cabin resource fusion use, high reliability, safety, high restorability and the like. The gesture track controller is realized by adopting a four-machine fault-tolerant control computer technology, each single machine achieves distributed data acquisition by controlling different buses, and the four machines form hot redundancy synchronous operation.
In order to realize the complete synchronous operation of four machines, each control period is required to exchange and compare all external input data acquired by each single machine, so that the four-machine input states are completely consistent, each single machine obtains an output result through control task calculation under the condition of ensuring the same input, then the output result of each single machine is exchanged and compared, and finally the result which is consistent after comparison is truly output. Because of the large number of components communicating with the system and the large amount of input and output data, how to quickly access these data items during control tasks is a critical issue in data exchange alignment.
Disclosure of Invention
The invention solves the technical problems that: the method comprises the steps of taking four machines of data to be exchanged and compared as objects to establish a data buffer pool and a data access mechanism of a secondary index table, so that software is decoupled from data in the processes of data acquisition, input exchange and comparison, algorithm calculation, output exchange and comparison and data output, and meanwhile, the access efficiency and the processing capacity of the four machines of exchange and comparison data are improved.
The technical scheme of the invention is as follows: a four-machine hot backup computer data quick access method based on a data pool comprises the following steps:
(1) Opening up a data pool for sharing data by four machines;
(2) Carrying out unified format design of a data pool;
(3) Designing a data item quick access mechanism on the basis of the step (2);
(4) The input data pool and the output data pool are applied to tasks of the control system in each period, and a data processing flow based on the data pool is designed.
The four-machine shared data pool opened up in the step (1) comprises: an input exchange ratio data pool and an output exchange ratio data pool; the data in the data pool is obtained through different types of interfaces.
The unified format design principle of the data pool in the step (2) is as follows: the input data pool and the output data pool are designed in a unified format, namely the structures and the maintenance methods of the two data pools are completely consistent, and only the stored data items are different; the data of each data pool are respectively stored according to different components.
The specific mode of the unified format design of the data pool in the step (2) is as follows: each class of data items consists of an identifier, an attribute and data content of the data; the information of the data identifier comprises a component type, a communication interface and a communication state, and the data identifier is used for hooking with the actual component and equipment source; the data attribute information includes a data type and a data length; the data content stores the data of actual communication; the storage of the data items in the data pool considers the memory access efficiency, namely, the initial offset is in a four-byte alignment mode, and if the total length of the data items is not a multiple of four bytes, the filling operation is finally carried out on the data items.
The specific process of the step (3) is as follows: and respectively establishing an index table according to the part type and the data type in the data identifier to form a two-stage static index table access mechanism, and rapidly positioning certain data content through the two-stage indexes so as to realize the retrieval, writing and reading operation access of the data item.
The specific steps of the step (4) are as follows:
a) Each single machine directly stores the original data of the components acquired from the interfaces into an input data pool according to the unified format of the data pool in the step (2) and the step (3) and a quick access mechanism in the acquisition subtask to obtain data before input exchange comparison;
b) In the input data exchange comparison subtask, directly carrying out four-machine exchange comparison on the content of the whole input data pool to obtain data after input exchange comparison, and updating the data to the input data pool;
c) In the input data processing subtasks, reading data from the input data pool according to the unified format of the data pool in the step (2) and the step (3) and the quick access mechanism for data processing;
d) Performing corresponding algorithm calculation in a control task calculation subtask to obtain output data;
e) In the output subtask, storing output data into an output data pool according to the unified format of the data pool in the step (2) and the step (3) and a quick access mechanism to obtain data before output exchange comparison;
f) In the output data exchange comparison subtask, directly carrying out four-machine exchange comparison on the content of the whole output data pool to obtain data after output exchange comparison, and updating the data to the output data pool;
g) In the output subtask, reading data from the output data pool according to the unified format of the data pool in the step (2) and the step (3) and the quick access mechanism for data output.
Compared with the prior art, the invention has the advantages that:
(1) The invention provides a method for quickly accessing four-machine hot backup computer data for the first time, which establishes a data buffer pool by introducing the concept of a data pool and taking a large amount of data to be exchanged and compared of four machines as objects, and defines the uniform format of stored data items, thereby realizing decoupling with the data in the data processing process of data acquisition, input exchange comparison, algorithm calculation, output exchange comparison and data output.
(2) The invention designs a data access mechanism of a secondary index table on the basis of a data pool, respectively establishes the index table according to the information such as the type of the data part and the data attribute on the basis of the format definition of the data item, and forms a two-stage static index table access mechanism so as to improve the access efficiency of the data pool and realize the rapid and reliable access of the operations such as the retrieval, the writing and the reading of the data item.
Drawings
FIG. 1 is a schematic diagram of a data pool.
FIG. 2 is an example of a data pool format.
FIG. 3 is a flow chart of data processing based on a data pool.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the accompanying drawings.
The satellite control system adopting the four-machine hot standby computer needs to realize the four-machine synchronous operation, and because the four-machine synchronous operation needs to be realized by exchanging and comparing a large amount of input data and output data in each control period, how to quickly access the data items is a key problem to be solved in the data exchanging and comparing. The invention provides a data quick access method of a four-machine hot backup computer based on a data pool, which takes data to be exchanged and compared of four machines as objects to respectively establish a data buffer pool and a data access mechanism of a secondary index table, so that software is decoupled from the data in the processes of data acquisition, input exchange comparison, algorithm calculation, output exchange comparison and data output, and simultaneously, the access efficiency and the processing capacity of the data to be exchanged and compared of the four machines are improved.
A four-machine hot backup computer data quick access method based on a data pool comprises the following implementation steps:
(1) And a data pool for four machines to share data is opened up. In order to realize the complete synchronous operation of four machines, the data acquired by each single machine in each period are input, exchanged and compared, the output result of each single machine is exchanged and compared after the output result is obtained through the calculation of a control task, and then the compared and consistent result is output. Therefore, the invention designs two data buffer pools for respectively storing the input exchange comparison data and the output exchange comparison data. The individual units may communicate with the components via various types of interfaces, such as 1553B bus, CAN bus, serial port, SPW bus, etc. The data pool is opened up as shown in fig. 1, after which step (2) is performed.
(2) And (3) performing unified format design of the data pool, and then performing the step (3), wherein the method specifically comprises the following steps:
and (2.1) carrying out unified format design on the input data pool and the output data pool, namely, completely consistent structures and maintenance methods of the two data pools and only different data items are stored. The data of each data pool is stored according to different components, and the format and example of the data pool are shown in fig. 2.
And (2.2) in order to facilitate the rapid positioning of certain data in the two data pools in the processes of acquisition, processing and output, the data pools are effectively maintained, the stored data items are defined in a unified format, and the information such as identifiers, attributes and data contents of the data are defined. The method comprises the steps of hanging the data identifier, the actual components and equipment sources, distributing the size of a data pool according to the actual requirements of the system, and reserving a certain free area. The storage of the data items in the data pool needs to consider the access efficiency, for example, the initial offset needs to be aligned according to four bytes, if the total length of the data items is not a multiple of four bytes, the data items are finally filled, and the like. Examples of data item formats are shown below:
note that: and aligning padding, namely ensuring that the total length of the data item is an integer multiple of four bytes, wherein m is more than or equal to 0 and less than or equal to 3, and the padding bytes are 0xAA.
(3) Designing a data item quick access mechanism on the basis of the step (2). Because of the large number of data items in the data pool, each data item has different length and large data volume, and the data needs to be accessed for many times in the process of acquisition, processing and output of each control period, if a traversing query method is adopted, the performance of real-time control software is seriously affected. Therefore, on the basis of the format definition of the data item, the index table is respectively established according to the type of the data item in the data ID and the type of the data item in the data attribute, and a two-stage static index table access mechanism is formed, so that the access efficiency of the data pool is improved, and the quick and reliable access of operations such as data item retrieval, writing and reading are realized.
(4) Based on the above 3 steps, the input data pool and the output data pool are applied to the tasks of each cycle of the control system, and a data processing flow based on the data pool is designed, as shown in fig. 3, specifically:
(4.1) each single machine directly stores the original data of the components acquired from the interfaces into an input data pool according to the unified format of the data pool in the step (2) and the step (3) and a quick access mechanism in the acquisition subtask to obtain data before input exchange comparison, and then the step (4.2) is carried out;
(4.2) in the input data exchange comparison subtask, directly carrying out four-machine exchange comparison on the content of the whole input data pool (without concerning data content, and completed by processor hardware), obtaining data after input exchange comparison, updating the data to the input data pool, and then entering the step (4.3);
(4.3) in the input data processing subtask, reading data from the input data pool according to the data pool unified format and the quick access mechanism of the step (2) and the step (3) for data processing, and then entering the step (4.4);
(4.4) performing corresponding algorithm calculation in a control task calculation subtask to obtain output data, and then entering a step (4.5);
(4.5) in the output subtask, storing the output data into an output data pool according to the unified format of the data pool in the step (2) and the step (3) and a quick access mechanism to obtain data before output exchange comparison, and then entering the step (4.6);
(4.6) in the output data exchange comparison subtask, directly carrying out four-machine exchange comparison on the content of the whole output data pool (without concern of data content, and completed by processor hardware), obtaining data after the output exchange comparison, updating the data to the output data pool, and then entering the step (4.7);
(4.7) in the output subtask, reading data from the output data pool according to the unified format of the data pool in the step (2) and the step (3) and the quick access mechanism for data output.
The invention is not described in detail in the field of technical personnel common knowledge.
Claims (1)
1. A four-machine hot backup computer data quick access method based on a data pool is characterized by comprising the following steps:
(1) Opening up a data pool for sharing data by four machines;
(2) Carrying out unified format design of a data pool;
(3) Designing a data item quick access mechanism on the basis of the step (2);
(4) Applying an input data pool and an output data pool to tasks of a control system in each period, and designing a data processing flow based on the data pool;
the four-machine shared data pool opened up in the step (1) comprises: an input exchange ratio data pool and an output exchange ratio data pool; the data in the data pool is obtained through different types of interfaces;
the unified format design principle of the data pool in the step (2) is as follows: the input data pool and the output data pool are designed in a unified format, namely the structures and the maintenance methods of the two data pools are completely consistent, and only the stored data items are different; the data of each data pool are respectively stored according to different components;
the specific mode of the unified format design of the data pool in the step (2) is as follows: each class of data items consists of an identifier, an attribute and data content of the data; the information of the data identifier comprises a component type, a communication interface and a communication state, and the data identifier is used for hooking with the actual component and equipment source; the data attribute information includes a data type and a data length; the data content stores the data of actual communication; the storage of the data items in the data pool considers the memory access efficiency, namely, the initial offset is in a four-byte alignment mode, and if the total length of the data items is not a multiple of four bytes, filling operation is finally carried out on the data items;
the specific process of the step (3) is as follows: respectively establishing an index table according to the part type and the data type in the data identifier to form a two-stage static index table access mechanism, and rapidly positioning certain data content through two-stage indexes so as to realize the retrieval, writing and reading operation access of the data items;
the specific steps of the step (4) are as follows:
a) Each single machine directly stores the original data of the components acquired from the interfaces into an input data pool according to the unified format of the data pool in the step (2) and the step (3) and a quick access mechanism in the acquisition subtask to obtain data before input exchange comparison;
b) In the input data exchange comparison subtask, directly carrying out four-machine exchange comparison on the content of the whole input data pool to obtain data after input exchange comparison, and updating the data to the input data pool;
c) In the input data processing subtasks, reading data from the input data pool according to the unified format of the data pool in the step (2) and the step (3) and the quick access mechanism for data processing;
d) Performing corresponding algorithm calculation in a control task calculation subtask to obtain output data;
e) In the output subtask, storing output data into an output data pool according to the unified format of the data pool in the step (2) and the step (3) and a quick access mechanism to obtain data before output exchange comparison;
f) In the output data exchange comparison subtask, directly carrying out four-machine exchange comparison on the content of the whole output data pool to obtain data after output exchange comparison, and updating the data to the output data pool;
g) In the output subtask, reading data from the output data pool according to the unified format of the data pool in the step (2) and the step (3) and the quick access mechanism for data output.
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| CN101079036A (en) * | 2006-06-23 | 2007-11-28 | 腾讯科技（深圳）有限公司 | Storage method and system for mass file |
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